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<p><code>#include &lt;<a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>&gt;</code></p>
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Public Member Functions</h2></td></tr>
<tr class="memitem:adf9a3b33f49f627e056a34ef2c8bd7da"><td class="memItemLeft" align="right" valign="top">EIGEN_MAKE_ALIGNED_OPERATOR_NEW&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#adf9a3b33f49f627e056a34ef2c8bd7da">SpatialInertia</a> (T mass, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;com, const <a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt; &amp;inertia)</td></tr>
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<tr class="memitem:aff0ba2abb1ff96cea0424bb0ee2edba5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#aff0ba2abb1ff96cea0424bb0ee2edba5">SpatialInertia</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;inertia)</td></tr>
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<tr class="memitem:abda700d74f76cfaeb20a610a247f05c3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#abda700d74f76cfaeb20a610a247f05c3">SpatialInertia</a> ()</td></tr>
<tr class="separator:abda700d74f76cfaeb20a610a247f05c3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fa8c76f7485ea4c5b85130456627544"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#a4fa8c76f7485ea4c5b85130456627544">SpatialInertia</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt; T &gt; &amp;a)</td></tr>
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<tr class="memitem:acf0a41b31a51c8eca921a9b13a0cf40b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#acf0a41b31a51c8eca921a9b13a0cf40b">SpatialInertia</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a>&lt; T &gt; &amp;P)</td></tr>
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<tr class="memitem:a6a56ab7bc5c176a6c532ac13da61280e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#a6a56ab7bc5c176a6c532ac13da61280e">asMassPropertyVector</a> ()</td></tr>
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<tr class="memitem:a593dcefeff8e432d7ad09e620aa9e155"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#a593dcefeff8e432d7ad09e620aa9e155">getMatrix</a> () const </td></tr>
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<tr class="memitem:abbda356aa2bb6b1ec6b2716278086d39"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#abbda356aa2bb6b1ec6b2716278086d39">setMatrix</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;mat)</td></tr>
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<tr class="memitem:acc8d6e630e9a759ce9a518152555f526"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#acc8d6e630e9a759ce9a518152555f526">addMatrix</a> (const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;mat)</td></tr>
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<tr class="memitem:a028068e045683d277c68c931ee466d25"><td class="memItemLeft" align="right" valign="top">T&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">getMass</a> ()</td></tr>
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<tr class="memitem:aca01456bae9ae59c9c2951a3f20f23ba"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#aca01456bae9ae59c9c2951a3f20f23ba">getCOM</a> ()</td></tr>
<tr class="separator:aca01456bae9ae59c9c2951a3f20f23ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaad7e12bff8c241087de23177ec067f0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#aaad7e12bff8c241087de23177ec067f0">getInertiaTensor</a> ()</td></tr>
<tr class="separator:aaad7e12bff8c241087de23177ec067f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0aad367456ae80e3223f5c37b98dc441"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#a0aad367456ae80e3223f5c37b98dc441">getPseudoInertia</a> ()</td></tr>
<tr class="separator:a0aad367456ae80e3223f5c37b98dc441"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aff11035cf43a7415b7a60325c4ae392b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#aff11035cf43a7415b7a60325c4ae392b">flipAlongAxis</a> (<a class="el" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5">CoordinateAxis</a> axis)</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr class="memitem:a2563c445f3e673eec16dbbc267a23c6c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><h3>template&lt;typename T&gt;<br />
class SpatialInertia&lt; T &gt;</h3>

<p>Representation of Rigid Body Inertia as a 6x6 Spatial Inertia Tensor </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00025">25</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
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          <td class="memname">EIGEN_MAKE_ALIGNED_OPERATOR_NEW <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt;::<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a> </td>
          <td>(</td>
          <td class="paramtype">T&#160;</td>
          <td class="paramname"><em>mass</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>com</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>inertia</em>&#160;</td>
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          <td>)</td>
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<p>Construct spatial inertia from mass, center of mass, and 3x3 rotational inertia </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00032">32</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                                                                     {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> cSkew = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(com);</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topLeftCorner&lt;3, 3&gt;() =</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        inertia + mass * cSkew * cSkew.transpose();</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topRightCorner&lt;3, 3&gt;() = mass * cSkew;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template bottomLeftCorner&lt;3, 3&gt;() = mass * cSkew.transpose();</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template bottomRightCorner&lt;3, 3&gt;() = mass * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
<div class="ttc" id="namespaceori_html_a153f2a76610f0c5524da3f8bf8fa4dfa"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">ori::vectorToSkewMat</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; vectorToSkewMat(const Eigen::MatrixBase&lt; T &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00096">orientation_tools.h:96</a></div></div>
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          <td class="memname"><a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt;::<a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a> </td>
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          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>inertia</em></td><td>)</td>
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<p>Construct spatial inertia from 6x6 matrix </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00044">44</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{ <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a> = inertia; }</div><div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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<p>If no argument is given, zero. </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00049">49</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{ <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;::Zero</a>(); }</div><div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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          <td>(</td>
          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt; T &gt; &amp;&#160;</td>
          <td class="paramname"><em>a</em></td><td>)</td>
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<p>Construct spatial inertia from mass property vector </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00054">54</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                                                      {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(0, 0) = a(4);</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(0, 1) = a(9);</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(0, 2) = a(8);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(1, 0) = a(9);</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(1, 1) = a(5);</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(1, 2) = a(7);</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(2, 0) = a(8);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(2, 1) = a(7);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(2, 2) = a(6);</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> cSkew = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(<a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a>(a(1), a(2), a(3)));</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topRightCorner&lt;3, 3&gt;() = cSkew;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template bottomLeftCorner&lt;3, 3&gt;() = cSkew.transpose();</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template bottomRightCorner&lt;3, 3&gt;() = a(0) * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
<div class="ttc" id="namespaceori_html_a153f2a76610f0c5524da3f8bf8fa4dfa"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">ori::vectorToSkewMat</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; vectorToSkewMat(const Eigen::MatrixBase&lt; T &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00096">orientation_tools.h:96</a></div></div>
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<p>Construct spatial inertia from pseudo-inertia. This is described in Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution, by Wensing, Kim, Slotine </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">P</td><td></td></tr>
  </table>
  </dd>
</dl>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00077">77</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                                            {</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6&lt;T&gt;</a> I;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    T m = P(3, 3);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> h = P.template topRightCorner&lt;3, 1&gt;();</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> E = P.template topLeftCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Ibar = E.trace() * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>() - E;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    I.template topLeftCorner&lt;3, 3&gt;() = Ibar;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    I.template topRightCorner&lt;3, 3&gt;() = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(h);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    I.template bottomLeftCorner&lt;3, 3&gt;() = <a class="code" href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">vectorToSkewMat</a>(h).transpose();</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    I.template bottomRightCorner&lt;3, 3&gt;() = m * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a> = I;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_ae8ab6bd4079a5317297be5eeb331b1ca"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 6, 6 &gt; Mat6</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00070">cppTypes.h:70</a></div></div>
<div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
<div class="ttc" id="namespaceori_html_a153f2a76610f0c5524da3f8bf8fa4dfa"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a153f2a76610f0c5524da3f8bf8fa4dfa">ori::vectorToSkewMat</a></div><div class="ttdeci">Mat3&lt; typename T::Scalar &gt; vectorToSkewMat(const Eigen::MatrixBase&lt; T &gt; &amp;v)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00096">orientation_tools.h:96</a></div></div>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="paramtype">const <a class="el" href="../../d9/d8e/cpp_types_8h.html#ae8ab6bd4079a5317297be5eeb331b1ca">Mat6</a>&lt; T &gt; &amp;&#160;</td>
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<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00108">108</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;{ <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a> += mat; }</div><div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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          <td class="memname"><a class="el" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a>&lt;T&gt; <a class="el" href="../../d6/d81/class_spatial_inertia.html">SpatialInertia</a>&lt; T &gt;::asMassPropertyVector </td>
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<p>Convert spatial inertia to mass property vector </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00093">93</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                                           {</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties&lt;T&gt;</a> a;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> h = <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(<a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topRightCorner&lt;3, 3&gt;());</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    a &lt;&lt; <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(5, 5), h(0), h(1), h(2), <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(0, 0), <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(1, 1),</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(2, 2), <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(2, 1), <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(2, 0), <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(1, 0);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span> a;</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
<div class="ttc" id="namespaceori_html_a0d9277fde185aecf3eae4a6d6450d25f"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">ori::matToSkewVec</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; matToSkewVec(const Eigen::MatrixBase&lt; T &gt; &amp;m)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00108">orientation_tools.h:108</a></div></div>
<div class="ttc" id="cpp_types_8h_html_ad7673cd2189f78a761c3a51d9c1314b1"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ad7673cd2189f78a761c3a51d9c1314b1">MassProperties</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 10, 1 &gt; MassProperties</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00098">cppTypes.h:98</a></div></div>
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<p>Flip inertia matrix around an axis. This isn't efficient, but it works! </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00158">158</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                                                    {</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a> P = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a0aad367456ae80e3223f5c37b98dc441">getPseudoInertia</a>();</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a> <a class="code" href="../../da/d9b/namespaceori.html#a02c20a1b1d35988c657aa1e219d609d5a02129bb861061d1a052c592e2dc6b383">X</a> = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;::Identity</a>();</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">if</span> (axis == CoordinateAxis::X)</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      X(0, 0) = -1;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (axis == CoordinateAxis::Y)</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      X(1, 1) = -1;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (axis == CoordinateAxis::Z)</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      X(2, 2) = -1;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    P = X * P * X;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#abda700d74f76cfaeb20a610a247f05c3">SpatialInertia</a>(P);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_a5e48cf69558cf96d92f71803cf9d19a4"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 4 &gt; Mat4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00094">cppTypes.h:94</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_abda700d74f76cfaeb20a610a247f05c3"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#abda700d74f76cfaeb20a610a247f05c3">SpatialInertia::SpatialInertia</a></div><div class="ttdeci">SpatialInertia()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00049">SpatialInertia.h:49</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a0aad367456ae80e3223f5c37b98dc441"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a0aad367456ae80e3223f5c37b98dc441">SpatialInertia::getPseudoInertia</a></div><div class="ttdeci">Mat4&lt; T &gt; getPseudoInertia()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00142">SpatialInertia.h:142</a></div></div>
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<p>Get center of mass location </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00118">118</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                   {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    T m = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">getMass</a>();</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> mcSkew = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topRightCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> com = <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(mcSkew) / m;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span> com;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a028068e045683d277c68c931ee466d25"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">SpatialInertia::getMass</a></div><div class="ttdeci">T getMass()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00113">SpatialInertia.h:113</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
<div class="ttc" id="namespaceori_html_a0d9277fde185aecf3eae4a6d6450d25f"><div class="ttname"><a href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">ori::matToSkewVec</a></div><div class="ttdeci">Vec3&lt; typename T::Scalar &gt; matToSkewVec(const Eigen::MatrixBase&lt; T &gt; &amp;m)</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/dfb/orientation__tools_8h_source.html#l00108">orientation_tools.h:108</a></div></div>
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<p>Get 3x3 rotational inertia </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00128">128</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                             {</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    T m = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">getMass</a>();</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> mcSkew = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topRightCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> I_rot = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topLeftCorner&lt;3, 3&gt;() -</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                    mcSkew * mcSkew.transpose() / m;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordflow">return</span> I_rot;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a028068e045683d277c68c931ee466d25"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a028068e045683d277c68c931ee466d25">SpatialInertia::getMass</a></div><div class="ttdeci">T getMass()</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00113">SpatialInertia.h:113</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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<p>Get mass </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00113">113</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(5, 5); }</div><div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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<p>Get 6x6 spatial inertia </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00104">104</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;{ <span class="keywordflow">return</span> <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>; }</div><div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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<p>Convert to 4x4 pseudo-inertia matrix. This is described in Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution, by Wensing, Kim, Slotine </p>

<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00142">142</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                             {</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;T&gt;</a> h = <a class="code" href="../../da/d9b/namespaceori.html#a0d9277fde185aecf3eae4a6d6450d25f">matToSkewVec</a>(<a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topRightCorner&lt;3, 3&gt;());</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;</a> Ibar = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>.template topLeftCorner&lt;3, 3&gt;();</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    T m = <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a>(5, 5);</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4&lt;T&gt;</a> P;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    P.template topLeftCorner&lt;3, 3&gt;() =</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        0.5 * Ibar.trace() * <a class="code" href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3&lt;T&gt;::Identity</a>() - Ibar;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    P.template topRightCorner&lt;3, 1&gt;() = h;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    P.template bottomLeftCorner&lt;1, 3&gt;() = h.transpose();</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    P(3, 3) = m;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordflow">return</span> P;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div><div class="ttc" id="cpp_types_8h_html_aa8cb424e643d476ea485238dad7c3e18"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#aa8cb424e643d476ea485238dad7c3e18">Mat3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 3 &gt; Mat3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00054">cppTypes.h:54</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a5e48cf69558cf96d92f71803cf9d19a4"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5e48cf69558cf96d92f71803cf9d19a4">Mat4</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 4, 4 &gt; Mat4</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00094">cppTypes.h:94</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
<div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00106">106</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{ <a class="code" href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">_inertia</a> = mat; }</div><div class="ttc" id="class_spatial_inertia_html_a2563c445f3e673eec16dbbc267a23c6c"><div class="ttname"><a href="../../d6/d81/class_spatial_inertia.html#a2563c445f3e673eec16dbbc267a23c6c">SpatialInertia::_inertia</a></div><div class="ttdeci">Mat6&lt; T &gt; _inertia</div><div class="ttdef"><b>Definition:</b> <a href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">SpatialInertia.h:172</a></div></div>
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<p>Definition at line <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html#l00172">172</a> of file <a class="el" href="../../d4/d7d/_spatial_inertia_8h_source.html">SpatialInertia.h</a>.</p>

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